wrest
To take something by force after a hard struggle.
To wrest something means to pull or twist it away from someone with violent force and effort. When you wrest a toy from your little brother's grip, you yank it away while he holds on tight, using strength to overcome his resistance. If knights in a story wrest control of a castle from enemies, they're fighting hard to take it by force.
The word captures that sense of struggle and resistance. You don't wrest things that are freely given. You wrest them from someone who doesn't want to let go. A wrestler might wrest a championship belt from the defending champion. A detective in a mystery novel might wrest a confession from a suspect after hours of questioning.
Wrest can also mean gaining something through great effort, even when there's no physical pulling involved. A scientist might wrest secrets from nature through years of careful experiments. A lawyer might wrest justice from a difficult legal system.
When you wrest something away, you're fighting for it against resistance or opposition.